The mid-size SUV rules in the rankings - and functionally. There's a good reason that they are so popular; they do many things very well.
I changed from a '99 Blazer to a 2007 Nissan Murano and it has AWD, swallows all my gear, is a comfortable and quiet town and highway vehicle, and gets acceptable gas mileage. Rear seats fold flat enough to sleep in, and the rear seats even recline in normal use! Win-win-win!
I used to have a Murano, worked pretty well.
Right now I drive a '09 Toyota Highlander Hybrid, great milage. I've been able to squeeze as much as 32 MPG out of it... though that was perfect circumstances. If I don't use cheap no name gas I usually get 20-21 mpg in the city. Though where I live everything is RaceTrac, QuikTrip, etc so I usually get 19 mpg. I could prob get more but I don't drive like a granny... I guess it was from my days of driving a Subaru WRX in college.
I've owned everything from a small coupe (my wife's civic, good luck getting anything in there), small hatchback (WRX fit a 8x10 in it
), to a mid sized car (Grand Am), to a large truck (Silverado Longbed). My preference is the mid-sized SUV.